CN112910331A - Three-phase permanent magnet synchronous motor alternating current driver - Google Patents
Three-phase permanent magnet synchronous motor alternating current driver Download PDFInfo
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- CN112910331A CN112910331A CN202110162063.7A CN202110162063A CN112910331A CN 112910331 A CN112910331 A CN 112910331A CN 202110162063 A CN202110162063 A CN 202110162063A CN 112910331 A CN112910331 A CN 112910331A
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- 238000005070 sampling Methods 0.000 claims description 26
- 238000001914 filtration Methods 0.000 claims description 13
- 239000004568 cement Substances 0.000 claims description 8
- 230000008929 regeneration Effects 0.000 claims description 7
- 238000011069 regeneration method Methods 0.000 claims description 7
- 238000002955 isolation Methods 0.000 claims description 6
- 230000001629 suppression Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 44
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0805—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for synchronous motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0854—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load responsive to rate of change of current, couple or speed, e.g. anti-kickback protection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H9/00—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection
- H02H9/04—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection responsive to excess voltage
- H02H9/041—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection responsive to excess voltage using a short-circuiting device
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- Control Of Ac Motors In General (AREA)
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Abstract
The invention discloses an alternating current driver of a three-phase permanent magnet synchronous motor, which comprises a control module and a power module, wherein the power module comprises an overvoltage protection circuit and an IGBT (insulated gate bipolar transistor) integrated module; the input alternating current power supply is divided into two paths, one path enters the input end of the IGBT integrated module through the overvoltage protection circuit, and the other path is converted into direct current 24V through the AC/DC circuit to supply power for the control module; the output end of the IGBT integrated module is connected with the input end of the motor, the output end of the control module is connected with the input end of the IGBT integrated module, and the input end of the control module is respectively connected with the output end of the grating ruler on the moving assembly and the output end of the motor; the control signal sent by the control module is sent to the power module to control the motor motion, full closed loop control is formed among the control module, the power module and the motor in the driver, the purpose of accurately adjusting the motion state of the motion assembly is achieved, the driver simultaneously improves the universality, and the driver can drive three-phase permanent magnet synchronous motors of different brands.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to an alternating current driver of a three-phase permanent magnet synchronous motor.
Background
A driver is a device for precisely controlling the motion of a motor, and is widely used in various motion control fields, especially in the field of industrial devices. In industrial production facilities, there are often a plurality of motion mechanisms, each using one or more motors, each motor usually being equipped with a drive, and therefore drives are widely used. In the field of high-speed and high-precision motion control, such as precision numerical control machines, high-speed and high-precision chip mounters, robots and the like, the control requirements can be met only by using a permanent magnet synchronous motor, the market of domestic permanent magnet synchronous motors and drivers is often occupied by foreign companies such as European and Japanese companies, and domestic drivers and motors are different from international levels.
The open interface of the existing driver product is limited, and the optimal control cannot be achieved; meanwhile, in order to perform motion control, a motion control card needs to be additionally configured; motors and drivers of various manufacturers need to be matched for use, and the universality is lacked; and a grating ruler interface circuit is partially lacked, so that full closed-loop control cannot be completed, and the like.
Disclosure of Invention
Based on the existing problems, the invention provides a three-phase permanent magnet synchronous motor alternating current driver, wherein full closed-loop control is realized among a control module, a power module and a motor by fusing signals of a grating ruler and an encoder so as to achieve the aim of accurately adjusting the motion state of a motion assembly; meanwhile, the motor can be adapted to permanent magnet synchronous motors of various brands; and integrates the motion curve planning function.
The invention provides a three-phase permanent magnet synchronous motor alternating current driver which is used for controlling the precise positioning motion of a load assembly by controlling the precise rotation of a motor and comprises the motor, a control module and a power module, wherein the power module comprises an overvoltage protection circuit and an IGBT integrated module; the input alternating current power supply of the driver is divided into two paths, one path of the input alternating current power supply enters the input end of the IGBT integrated module after passing through the overvoltage protection circuit and rectification, and the other path of the input alternating current power supply is converted into direct current 24V through the AC/DC circuit to supply power for the control module; the output end of the IGBT integrated module is connected with the input end of the motor, the output end of the control module is connected with the input end of the IGBT integrated module, and the input end of the control module is respectively connected with the output end of the grating ruler on the moving assembly and the output end of the motor.
Furthermore, the control module comprises a DSP chip, an analog sampling circuit, a first driving circuit, a grating ruler interface circuit, an encoder interface circuit, a communication interface circuit and an IO circuit; the DSP chip is connected with the output end of the grating ruler on the motion assembly through a grating ruler interface circuit, the DSP chip is connected with the output end of the motor through an encoder interface circuit, the input end of the DSP chip is connected with the output end of the analog sampling circuit, and the output end of the DSP chip is connected with the input end of the first driving circuit.
Furthermore, the power module also comprises a rectifying circuit, a current detection circuit, a voltage detection circuit, a second driving circuit and an overcurrent protection circuit; the input end of the rectification circuit is connected with the output end of the overvoltage protection circuit, the output end of the rectification circuit is connected with the input end of the IGBT integrated module, the input end of the current detection circuit and the input end of the voltage detection circuit are respectively connected to the input end of the analog sampling circuit, the input end of the overcurrent protection circuit is connected with the output end of the IGBT integrated module, the output end of the overcurrent protection circuit is connected with the input end of the DSP chip, and the output end of the DSP chip sequentially passes through the first driving circuit and the second driving circuit to convey PWM signals to.
Further, the rectifying circuit comprises a full-filtering rectifying bridge, an electrolytic capacitor, a first relay and a charging resistor; the first relay and the charging resistor are connected in parallel to form a bus protection circuit, and the full-filtering rectifier bridge is connected with the electrolytic capacitor in parallel and then connected to the input end of the IGBT integrated module through the bus protection circuit.
Furthermore, the power module further comprises a regeneration protection circuit and a dynamic braking circuit, wherein the regeneration protection circuit comprises a cement resistor and an IGBT1, the cement resistor is connected to a collector of the IGBT1, an output end of the DSP chip is connected to a grid electrode of the IGBT1 through a first driving circuit and a second driving circuit in sequence so as to transmit a control signal to the IGBT1, and an emitter of the IGBT1 is grounded; the dynamic braking circuit comprises a second relay, a thermistor RT3, a thermistor RT4 and a relay driving circuit for controlling the second relay to work, wherein one switching contact of the second relay is connected to the W end of the three-phase power line of the motor through the thermistor RT3, and the other switching contact of the second relay is connected to the W end of the three-phase power line of the motor through the thermistor RT 4.
Furthermore, the analog sampling circuit is connected with the current detection circuit and the voltage detection circuit through the isolation amplifier respectively.
Further, the overvoltage protection circuit comprises a piezoresistor R25, a piezoresistor R26, a piezoresistor R30, a discharge tube G1, a capacitor C34, a capacitor C36 and a capacitor C42, the discharge tube G1 is connected to one end of the piezoresistor R25 and one end of the piezoresistor R30, the piezoresistor R25 and the piezoresistor R30 are connected in series and then connected in parallel with the piezoresistor R26 to form overvoltage protection, the capacitor C34 and the capacitor C42 are connected in series and then connected in parallel with the capacitor C36 to form surge suppression, and the overvoltage protection and the surge suppression are connected in parallel and then connected to the input end of the full-filter rectifier bridge.
The three-phase permanent magnet synchronous motor alternating current driver provided by the invention has the advantages that: the DSP chip sends PWM signals to the IGBT module through the first driving circuit and the second driving circuit to control the working state of the IGBT module, and the IGBT module controls the rotation of the motor; the motion information of the motion assembly detected by the grating ruler on the motion assembly and the motor encoder signal are fed back to the DSP chip, and the state that the DSP chip sends a PWM signal to the IGBT module is adjusted; the motor encoder and the grating ruler are controlled in a fusion mode to form full closed loop feedback, and the purpose of accurately adjusting the motion state of the motion assembly is achieved; various communication interfaces such as USB/RS422/RS485/CAN are provided, and high-speed instruction control is supported; the permanent magnet synchronous motors with different powers and brands can be flexibly supported, and the universality is improved; an integrated automatic flexible curve planning algorithm automatically plans a motion curve according to a given position, speed and acceleration, and saves an external control card. In the mounting of the chip mounter, the control of a plurality of motors on the chip mounter is improved, so that the accurate positioning control of a mounting head is realized, the mounting movement precision is further ensured, and the mounting quality of components is finally improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a circuit diagram of a control module driving an IGBT integrated module;
FIG. 3 is a circuit diagram of an overvoltage protection circuit;
FIG. 4 is a circuit diagram of a current sensing circuit;
FIG. 5 is a circuit diagram of a voltage detection circuit;
FIG. 6 is a circuit diagram of a dynamic braking circuit;
the control circuit comprises a motor 1, a control module 2, a power module 3, a DSP chip 21, an analog sampling circuit 22, a first driving circuit 23, an overvoltage protection circuit 31, an IGBT integrated module 32, a rectification circuit 33, a current detection circuit 34, a voltage detection circuit 35, a second driving circuit 36, an overcurrent protection circuit 37, a regeneration protection circuit 38 and a dynamic braking circuit 39.
Detailed Description
The present invention is described in detail below with reference to specific embodiments, and in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
As shown in fig. 1 to 6, the ac driver of a three-phase permanent magnet synchronous motor according to the present invention is used for controlling the movement of a moving component by controlling the rotation of a motor 1, and includes a motor 1, a control module 2, and a power module 3, where the power module 3 includes an overvoltage protection circuit 31 and an IGBT integrated module 32; the input alternating current power supply is divided into two paths, one path of the input alternating current power supply enters the input end of the IGBT integrated module 32 after passing through the overvoltage protection circuit 31 and being rectified, the other path of the input alternating current power supply is converted into direct current 24V through the AC/DC circuit and supplies power for the control module 2, the output end of the IGBT integrated module 32 is connected with the input end of the motor 1, the output end of the control module 2 is connected with the input end of the IGBT integrated module 32, and the input end of the control module 2 is respectively connected with the output end of a grating ruler on the moving assembly.
The control module 2 obtains motion information (such as speed, left and right offset and the like) of the motion assembly detected by the grating ruler on the motion assembly and motor information measured by the encoder, then the control module 2 sends a PWM signal to the working module in the power module 3 to control the working state of the working module, the power module 3 controls the rotating speed of the motor 1 to control the motion state of the motion assembly, full-closed-loop control is formed, the control precision reaches the precision of the grating ruler, the control precision of the motor is improved, the control precision of the motor for controlling the motion assembly is further improved, and the final positioning precision is ensured. For example, in the mounting of a chip mounter, the motor is controlled by the motor to accurately control a mounting head, so that the motion precision of the mounting head is ensured, and the mounting quality of a component to be mounted is finally improved.
Further, control module 2 includes DSP chip 21, analog sampling circuit 22, first drive circuit 23, grating chi interface circuit, encoder interface circuit, communication interface circuit and IO circuit, DSP chip 21 passes through grating chi interface circuit and is connected with the grating chi output on the motion subassembly, DSP chip 21 passes through encoder interface circuit and is connected with motor 1 output, DSP chip 21's input is connected with analog sampling circuit 22's output, DSP chip 21's output is connected with first drive circuit 23's input.
The DSP chip 21 adopts a chip with the model of XMC4400, the analog sampling circuit 22 can adopt an existing universal sampling circuit, an external IO circuit of the DSP chip 21 uses an optical coupler to carry out signal isolation, 3.3V-24V state signal input is supported, and different types of structure protection signals and state input are supported. Meanwhile, the driving of permanent magnet synchronous motors with different powers and brands can be supported, and the universality is stronger; in addition, the control module 2 supports speed planning and position planning, and according to the set displacement, speed and acceleration and the required curve type, the DSP chip 21 performs operation inside to obtain the motion position and speed at each moment in motion, and automatically controls the motor to run at the expected speed at each moment in real time until the driving load reaches the designated position, so that an additional motion control card is not needed, and the cost is reduced; the method and the device can be applied to high-speed and high-precision motion control, especially to various industrial equipment.
In addition, the DSP chip is provided with a communication interface which CAN be one or more of USB2.0, RS232, RS422, RS485 and CAN, and all control CAN be completed through high-speed instructions.
It should be understood that the interface circuit of the grating ruler in the control module 2 is used to obtain real-time detection data of the grating ruler in the moving component, and transmit the data to the DSP chip 21 to obtain the current moving state of the moving component.
Further, the power module 3 further includes a rectifying circuit 33, a current detection circuit 34, a voltage detection circuit 35, a second driving circuit 36 and an overcurrent protection circuit 37; the input end of the rectifying circuit 33 is connected with the output end of the overvoltage protection circuit 31, the output end of the rectifying circuit is connected with the input end of the IGBT integrated module 32, the input end of the current detection circuit 34 and the input end of the voltage detection circuit 35 are respectively connected with the input end of the analog sampling circuit 22, the input end of the overcurrent protection circuit 37 is connected with the output end of the IGBT integrated module 32, the output end of the overcurrent protection circuit is connected with the input end of the DSP chip 21, and the output end of the DSP chip 21 sequentially passes through the first driving circuit 23 and the second driving circuit 36 to transmit PWM signals to the.
The current detection circuit 34 and the voltage detection circuit 35 detect the current and the voltage in the power module 3, and feed back the acquired current and voltage to the DSP chip 21 to adjust the PWM signal transmitted from the DSP chip 21 to the power module 3, so as to accurately control the rotation of the motor 1, and achieve the purpose of accurately controlling the moving component.
In the present application, the current detection circuit shown in fig. 4 and the voltage detection circuit shown in fig. 5 are specifically as follows:
the current detection circuit: in the feedback control of the motor 1, the current value of each phase needs to be used, the current detection is carried out by using a precise high-power sampling Rsense, the current flowing through the motor 1 is converted into positive and negative differential voltage through the resistor Rsense, and is amplified by connecting an isolation amplifier ACPL-C790 through a filter consisting of a resistor R5 and a capacitor C3, wherein the amplification factor is about 8.2 times; since the power resistor is usually small and the signal is still small after amplification, the operational amplifier U3 is used for further amplification and filtering. The input line of the motor 1 has large electromagnetic interference, and the influence of the interference on the control is removed after the multi-stage amplification and filtration. The conditioned signal is accessed into the current sampling of the analog sampling circuit 22, and ADC sampling is used to realize the current detection of the DSP chip 21 entering the motor 1, so that the motor current is sensed in real time, and torque control and motor protection are performed.
The isolation amplifier is used for matching the voltages of the current sampling ends of the current detection circuit 34 and the analog sampling circuit 22 and reducing the voltage of the current sampling end of the analog sampling circuit 22; the isolation and filter circuit avoids the stability problem of interference generation, thereby realizing low-noise use of a low-voltage control high-voltage circuit, i.e., the power module 3 controlling high voltage corresponding to the low-voltage control module 2.
Voltage detection circuit 35: the bus voltage obtained from the power module 3 is 311V, so that voltage reduction needs to be performed through a plurality of resistors (one path of R127, R45, R46, R47 and R48) (one path of R128, R49, R50, R51 and R52) to reduce the voltage difference to be within the voltage range of an operational amplifier common mode and a differential mode U10A; the positive end and the negative end of the operational amplifier common mode and differential mode U10A are respectively input with the two resistors which are symmetrical resistors to achieve the bias balance of the operational amplifier common mode and differential mode U10A and reduce errors. After being filtered by a capacitor C55, a first-stage following filter circuit is added, the following filter circuit comprises an operational amplifier U10B, a resistor R53, a resistor R55 and a capacitor C55, the positive input end of the operational amplifier U10B is connected with the output end of an operational amplifier common mode and differential mode U10A, the negative input end of the operational amplifier U10B is connected with the output end to form following filtering, impedance matching of a subsequent circuit is achieved, further filtering is achieved through the resistor R53, the resistor R55 and the capacitor C55, interference is guaranteed to be small, noise of voltage sampling data finally entering the analog sampling circuit 22 is small, and subsequent analysis processing of the DSP chip 21 is facilitated.
Specifically, the rectifying circuit 33 includes a full-filtering rectifying bridge, an electrolytic capacitor, a first relay, and a charging resistor; the first relay and the charging resistor are connected in parallel to form a bus protection circuit, and the full-filtering rectifier bridge is connected in parallel with the electrolytic capacitor and then connected to the input end of the IGBT integrated module 32 through the bus protection circuit.
The full-filtering rectifier bridge is formed by connecting diodes, the bus protection circuit is matched with the electrolytic capacitor to ensure that the bus voltage is normal, the bus voltage is high and dangerous, and a red LED is used for indicating the voltage so as to indicate the high voltage.
Further, the power module 3 further comprises a regeneration protection circuit 38 and a dynamic braking circuit 39, the regeneration protection circuit 38 comprises a cement resistor and an IGBT1, the cement resistor is connected to a collector of the IGBT1, an output end of the DSP chip 21 is connected to a gate of the IGBT1 sequentially through the first driving circuit 23 and the second driving circuit 36 to transmit a PWM signal to the IGBT1, and an emitter of the IGBT1 is grounded; in the deceleration process of the motor 1, the motor is equivalent to a generator, backward flowing current is generated and applied to an internal circuit of the power module 3, and 40/60W cement resistor and KGF50N60KDA IGBT1 are used for energy release so as to protect the internal circuit of the power module 3.
As shown in fig. 6, the dynamic braking circuit 39 includes a second relay, one of the changeover contacts of which is connected to the W-terminal of the three-phase power line of the motor 1 through a thermistor RT3, the other changeover contact of which is connected to the W-terminal of the three-phase power line of the motor 1 through a thermistor RT4, a thermistor RT3, a thermistor RT4, and a relay drive circuit that controls the operation of the second relay. The other contacts of the second relay are respectively connected with the end U, V, and the three-phase current/cut of the three-phase current entering the motor 1 is adjusted through the action of the second relay. The dynamic braking circuit 39 can reduce the inertia distance of the motor 1 when the motor is in emergency stop, and the thermistor can reduce the braking current to protect the motor.
It should be understood that, in the present application, a fully closed-loop control is formed among the control module 2, the power module 3, and the motor 1, specifically: the DSP chip 21 sends PWM signals to the IGBT module 32 through the first driving circuit and the second driving circuit to control the working state of the IGBT module 32, so that the rotation of the motor 1 is controlled, the motion information of the motion assembly detected by the grating ruler on the motion assembly and the motor information detected by the encoder are fed back to the DSP chip 21, and the state of the PWM signals sent by the DSP chip 21 to the IGBT module 32 is adjusted to achieve the purpose of accurately adjusting the motion state of the motion assembly.
The overvoltage protection circuit 31 comprises a piezoresistor R25, a piezoresistor R26, a piezoresistor R30, a discharge tube G1, a capacitor C34, a capacitor C36 and a capacitor C42, wherein the discharge tube G1 is connected to one end of the piezoresistor R25 and one end of the piezoresistor R30, the piezoresistor R25 and the piezoresistor R30 are connected in series and then connected in parallel with the piezoresistor R26 to form overvoltage protection, the capacitor C34 and the capacitor C42 are connected in series and then connected in parallel with the capacitor C36 to form surge suppression, and the overvoltage protection and the surge suppression are connected in parallel and then connected to the input end of the full-filter rectifier bridge. The input ac power is protected by an overvoltage protection circuit 31.
It should be understood that the control module 2 uses XMC4400 as the DSP chip 21, the power module 3 uses an IGBT integrated module DIPIPM as a core, and the DIPIPM may use an intelligent power device of mitsubishi PSS35S92F 6-AG.
The working process is as follows: an input alternating current power supply is protected by an overvoltage protection circuit 31; an input alternating current power supply is divided into two paths, one path of the input alternating current power supply is subjected to large electrolytic capacitor filtering through a full-filtering rectifier bridge and an electrolytic capacitor to obtain bus voltage to supply power to the power module 3, and the other path of the input alternating current power supply is subjected to alternating current-direct current conversion circuit to obtain two paths of 24V control circuit power supplies to supply power to the control module 2; the bus voltage is high, danger exists, and a red LED is used for indicating the voltage; after the power module 3 is powered on, initializing each device, and then measuring whether the bus voltage reaches a specified value, so as to ensure that the power module 3 can work under the required voltage; after obtaining the required voltage, starting the control module 1 to interrupt, and maintaining a task state machine of the power module 3; the DSP chip 21 of the control module 2 uses a plurality of communication interfaces to communicate with a computer, and a user inputs control parameters to the DSP chip 21 through the computer communication interface; the DSP chip 21 simultaneously reads grating ruler information to perform full closed loop feedback control, controls an IO circuit and performs state indication and reading; reading current and voltage sampling values of the current detection circuit 34 and the voltage detection circuit 35 by the analog sampling circuit 22; according to the above states and information, the DSP chip 21 outputs a PWM signal required for control; the power module 3 takes an IGBT integration module DIPIPM as a core, and inverts the direct-current voltage of the bus into alternating-current voltage through an input PWM signal to control the motor 1 to rotate; in the process of deceleration, the motor 1 is equivalent to a generator, backward flowing current can be generated and applied to an internal circuit of the power module 3, and a cement resistor and an IGBT1 are used for energy release to protect the internal circuit; the inertia distance of the motor 1 in a sudden stop is reduced by using the dynamic braking circuit 39; the thermistor is used for reducing the brake current and protecting the motor; the overcurrent protection circuit 37 is used for circuit protection, so that the motor 1 is prevented from being burnt by overlarge current.
The overcurrent protection circuit 37 comprises a resistor R83, a resistor R84, a capacitor C83 and a diode D17, wherein the resistor R83 and the diode D17 are connected in parallel, one path of the resistor R84 is connected in parallel with the capacitor C83, and the other path of the resistor R83 is connected with the IGBT integrated module 32. The three-phase current output by the IGBT integrated module 32 flows through the R83 resistor. Here, the resistor R83 is used to convert the current into a voltage, and when the voltage exceeds a threshold value of 0.48V, a protection signal is generated to cut off the circuit.
Through closed-loop control adjustment of the control module 2 and the power module 3, after the movement is started, the driver automatically plans the movement process, moves to a specified position at the fastest speed, and the positioning precision is within 10 mu m. In the motion process, the driver measures phase current in real time, the position of the encoder and the corresponding position of the grating ruler, and full closed-loop control is realized.
Preferably, the output voltage of the input alternating current power supply is AC 85V-264V/47-63 Hz; the control module 2 (such as a precise timer) is used for generating 6 PWM control signals, the first driving circuit 23 (filtering and enhancing signals) and the second driving circuit 36 (isolating optocoupler and level conversion) are used for transmission, noise crosstalk is avoided, and meanwhile, hardware feedback such as the current detection circuit 34, the voltage detection circuit 35 and the overcurrent protection circuit 37 is used, so that the possibility of short circuit is avoided, and the circuit is safer; supporting the position measurement of the grating ruler, and completing full closed-loop control to enable the control precision to reach the precision of the grating ruler; the user interface and the communication interface are various, and the remote control of the computer can be realized; speed planning and position planning are supported, an additional motion control card is not needed, and cost is reduced; the driving of permanent magnet synchronous motors with different powers and brands can be supported, and the universality is stronger. Therefore, the invention can be applied to high-speed and high-precision motion control, in particular to various industrial equipment.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The alternating-current driver of the three-phase permanent magnet synchronous motor is characterized by comprising a control module (2) and a power module (3), wherein the power module (3) comprises an overvoltage protection circuit (31) and an IGBT integrated module (32);
an input alternating current power supply is divided into two paths, the input alternating current power supply enters the input end of an IGBT integrated module (32) through an overvoltage protection circuit (31) all the way, the input end of the IGBT integrated module (32) is converted into low-voltage direct current all the way to supply power for a control module (2), the output end of the IGBT integrated module (32) is connected with the input end of a motor (1), the output end of the control module (2) is connected with the input end of the IGBT integrated module (32), and the input end of the control module (2) is connected with the output end of a grating ruler on a moving assembly and the output end.
2. The alternating current driver of the three-phase permanent magnet synchronous motor according to claim 1, wherein the control module (2) comprises a DSP chip (21), an analog sampling circuit (22) and a first driving circuit (23), the DSP chip (21) is connected with the output end of a grating ruler on the moving component through a grating ruler interface circuit, the DSP chip (21) is connected with the output end of the motor (1) through an encoder interface circuit, the input end of the DSP chip (21) is connected with the output end of the analog sampling circuit (22), and the output end of the DSP chip (21) is connected with the input end of the first driving circuit (23).
3. The three-phase PMSM AC driver according to claim 2, wherein the power module (3) further includes a rectification circuit (33), a current detection circuit (34), a voltage detection circuit (35), a second drive circuit (36) and an overcurrent protection circuit (37);
the input end of the rectifying circuit (33) is connected with the output end of the overvoltage protection circuit (31), the output end of the rectifying circuit is connected with the input end of the IGBT integrated module (32), the input end of the current detection circuit (34) and the input end of the voltage detection circuit (35) are respectively connected to the input end of the analog sampling circuit (22), the input end of the overcurrent protection circuit (37) is connected with the output end of the IGBT integrated module (32), the output end of the overcurrent protection circuit is connected with the input end of the DSP chip (21), the output end of the DSP chip (21) sequentially passes through the first driving circuit (23), and the second driving circuit (36) transmits PWM signals to the IGBT integrated module (32).
4. The three-phase PMSM AC driver according to claim 3, wherein the rectification circuit (33) includes a full-filter rectifier bridge, an electrolytic capacitor, a first relay and a charging resistor; the first relay and the charging resistor are connected in parallel to form a bus protection circuit, and the full-filtering rectifier bridge is connected with the electrolytic capacitor in parallel and then connected to the input end of the IGBT integrated module (32) through the bus protection circuit.
5. The three-phase permanent magnet synchronous motor alternating current driver as claimed in claim 3, wherein the power module (3) further comprises a regeneration protection circuit (38) and a dynamic braking circuit (39), the regeneration protection circuit (38) comprises a cement resistor and an IGBT1, the cement resistor is connected to a collector electrode of the IGBT1, an output end of the DSP chip (21) is connected to a grid electrode of the IGBT1 through the first driving circuit (23) and the second driving circuit (36) in sequence so as to transmit a control signal to the IGBT1, and an emitter electrode of the IGBT1 is grounded;
the dynamic braking circuit (39) comprises a second relay, a thermistor RT3, a thermistor RT4 and a relay driving circuit for controlling the operation of the second relay, wherein one switching contact of the second relay is connected to the W end of the three-phase power line of the motor (1) through the thermistor RT3, and the other switching contact of the second relay is connected to the W end of the three-phase power line of the motor (1) through the thermistor RT 4.
6. The three-phase permanent magnet synchronous motor alternating current driver as claimed in claim 3, wherein the analog sampling circuit (22) is connected with the current detection circuit (34) and the voltage detection circuit (35) through isolation amplifiers respectively.
7. The three-phase permanent magnet synchronous motor alternating current driver as claimed in claim 4, wherein the overvoltage protection circuit (31) comprises a piezoresistor R25, a piezoresistor R26, a piezoresistor R30, a discharge tube G1, a capacitor C34, a capacitor C36 and a capacitor C42, the discharge tube G1 is connected to one end of the piezoresistor R25 and one end of the piezoresistor R30, the piezoresistor R25 and the piezoresistor R30 are connected in series and then connected in parallel with the piezoresistor R26 to form overvoltage protection, the capacitor C34 and the capacitor C42 are connected in series and then connected in parallel with the capacitor C36 to form surge suppression, and the overvoltage protection and the surge suppression are connected in parallel and then connected to the input end of the full-filter rectifier bridge.
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Application publication date: 20210604 |